1

-------------------------------------------------------------------------------

     2

     3

This is the FEATURES file of the IgH EtherCAT Master.

     4

     5

$Id$

     6

     7

-------------------------------------------------------------------------------

     8

     9

General Features:

    10

    11

* Runs as kernel module for Linux 2.6.

    12

    13

* Comes with EtherCAT-capable network driver for RTL8139 and compatible

    14

  network interface cards.

    15

  - Interrupt-less network driver operation.

    16

  - Easy implementation of additional network drivers through common device

    17

    interface of the master.

    18

  - Runs even with PCMCIA cards.

    19

    20

* Supports multiple EtherCAT masters on one machine.

    21

    22

* Supports any realtime extension through independent architecture.

    23

  - RTAI, IPIPE, ADEOS, etc.

    24

  - Runs well even without realtime extensions.

    25

    26

* Common kernel interface, for realtime modules using EtherCAT functionality.

    27

  - Synchronous and asynchronous sending and receiving of frames.

    28

  - Avoidance of unnecessary copy operations for process data.

    29

    30

* Separating slave groups through domains.

    31

  - Handling of multiple slave groups with different sampling rates.

    32

  - Automatic calculation of process data mapping, FMMU- and sync manager

    33

    configuration within the domains.

    34

    35

* Master finite state machine (FSM). Thus:

    36

  - Bus monitoring during realtime operation.

    37

  - Automatic reconfiguration of slaves on bus power failure during realtime

    38

    operation.

    39

  - Controlling of slave states during realtime operation.

    40

    41

* Special Idle mode, when master is not in use.

    42

  - Automatic scanning of slaves upon topology changes.

    43

  - Bus visualisation and EoE processing without realtime process connected.

    44

    45

* Implements the CANopen-over-EtherCAT (CoE) protocol.

    46

  - Configuration of CoE-capable slaves via SDO interface.

    47

  - SDO dictionary listing.

    48

    49

* Implements the Ethernet-over-EtherCAT (EoE) protocol.

    50

  - Creates virtual network devices that are automatically coupled to

    51

    EoE-capable	slaves.

    52

  - Thus natively supports either a switched or a routed EoE network

    53

    architecture.

    54

    55

* User space interface via the System Filesystem (SysFS).

    56

  - User space tool for bus visualisation.

    57

  - Slave E²PROM image reading and writing.

    58

    59

* Seamless integration in your favourite Linux distibution.

    60

  - Master and network device configuration via sysconfig files.

    61

  - UnitedLinux compatible init script for master control.

    62

    63

* Virtual read-only network interface for debugging purposes and for

    64

  "sniffing" the EtherCAT traffic (through Ethereal, or others).

    65

    66

-------------------------------------------------------------------------------